CN108372517A - The bionic wall climbing robot leg unit and robot of marmem driving - Google Patents
The bionic wall climbing robot leg unit and robot of marmem driving Download PDFInfo
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- CN108372517A CN108372517A CN201810448505.2A CN201810448505A CN108372517A CN 108372517 A CN108372517 A CN 108372517A CN 201810448505 A CN201810448505 A CN 201810448505A CN 108372517 A CN108372517 A CN 108372517A
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- bionic
- marmem
- leg
- climbing robot
- podomere
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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Abstract
The invention discloses a kind of bionic wall climbing robot leg units of marmem driving, including bionic leg, sufficient module, damping spring, two-way shape memory alloys driver and one-way shape memory alloy driver, drives before and after bionic leg and move left and right by two-way shape memory alloys driver and one-way shape memory alloy driver.The invention also discloses a kind of bionic wall climbing robots of marmem driving, including above-mentioned bionic wall climbing robot leg unit.The present invention uses marmen, using biomimetic features, realizes robot and climbs wall movement in dielectric surface；Activation configuration is simple, light weight, moves flexibly；Sufficient module uses ferromagnetism sphere, does not have extra lift leg in bionic leg motion process and adsorbs action again, and leg is capable of providing stable holding power and adsorption capacity, and supporting point is stablized, and robot gravity center shift is small, and gait planning is simple.
Description
Technical field
The present invention relates to climbing robot technical fields, and in particular, to a kind of bionical climbing of marmem driving
Wall robot leg unit and robot.
Background technology
Bionical polypody climbing robot is due to extremely strong kinematic dexterity and obstacle climbing ability, increasingly by people
Concern.Different from wheeled and crawler type, polypody climbing robot imitates the motion mode of animal, can realize multi-motion
Posture adapts to a variety of different surface environments, has wide range of applications.But polypody climbing robot mostly use at present motor or
Hydraulic-driven, own wt is big, complicated；The disengaging for realizing each foot between surface of creeping is needed in crawling process and is inhaled again
Attached, robot supporting point can change, and robot stabilization and safety reduce, and gait plan is complicated.
The Chinese patent of Publication No. CN101746429A proposes a kind of Hexapodous biomimetic wet-sucking wall-climbing robot, and use is soft
Property structure, using modular design concept, the wall surface for realizing robot is creeped function.But the design has used 8 motors, if
It has counted individual structure of tow line and prepressing structure and has removed and adsorb to realize foot pad with wall surface, it is complicated；Two in motion process
The bionical podomere of group alternately supports, and robot stabilization is poor.
In addition, the Chinese patent of Publication No. CN1385284A proposes miniature double the three of a kind of marmem driving
Biped robot is driven using combinated bias actuator marmen, realizes turning and the straight line fortune of robot
It is dynamic.But the marmen used proposed in the program includes multiple pulleys, complicated；And robot is still
It lifted, deflected by the alternating of two groups of legs, landed to realize movement, the redundant actions of free leg are more, and gait plan is complicated.
Invention content
In view of the foregoing, it is an object to provide a kind of bionic wall climbing robot leg of marmem driving
Unit and robot, the problems such as to solve existing polypody climbing robot driving structure and complicated gait plan.
One aspect of the present invention provides a kind of bionic wall climbing robot leg unit of marmem driving, is mounted on
On the trunk of bionic wall climbing robot, the bionic wall climbing robot leg unit includes：
Bionic leg, the bionic leg include the first podomere and the second podomere, first end and the body of first podomere
Dry to be connected by flexural pivot, the second end of first podomere is connect with the first end of second podomere by Plane Rotation pair,
The second end of second podomere is equipped with sufficient module；
Damping spring, the damping spring are installed between first podomere and the trunk, and perpendicular to the body
Plane where dry；
One-way shape memory alloy driver is mounted between first podomere and second podomere, for driving
The bionic leg moves left and right；And
Two-way shape memory alloys driver is mounted between first podomere and the trunk, described for driving
Bionic leg is moved forward and backward.
Preferably, the sufficient module includes elastic covering, marmem ring and magnetic ball, the elastic covering and described the
The second end of two podomeres is fixedly connected, and the magnetic ball is installed in the elastic covering, and the marmem ring is installed on
The opening of the elastic covering, by controlling locking and release of the marmem ring realization to the magnetic ball, and it is described
Magnetic ball described in bionic leg moving process is kept in contact with absorption surface.
Preferably, it is more than transformation temperature to heat the marmem ring to its temperature, the marmem ring
Diameter increases, and the opening of the elastic covering increases, and discharges the magnetic ball, the magnetic ball rotates in the elastic covering, makes
The sufficient module is obtained to move relative to dielectric surface；After the marmem ring cooling, the opening of the elastic covering is received
Contracting locks the magnetic ball and is adsorbed on dielectric surface, the foot module and the dielectric surface remains stationary.
Preferably, the two-way shape memory alloys driver includes first shape memorial alloy unit and the second shape note
Recall alloy unit, the first shape memorial alloy unit and the second marmem unit are symmetrically arranged on described imitative
The both sides of raw leg, the first shape memorial alloy unit include first shape memory alloy wire and the first spring, and described first
Shape-memory alloy wire is inserted into first spring, and the second marmem unit includes the second marmem
Silk and second spring, second shape-memory alloy wire are inserted into the second spring, and the one-way shape memory alloy drives
Dynamic device includes third marmem unit, the third marmem unit include third shape-memory alloy wire and
Third spring, the third shape-memory alloy wire are inserted into the third spring.
Preferably, when the two-way shape memory alloys driver forward direction work, the first shape memorial alloy is heated
Silk to its temperature is more than Length Contraction after transformation temperature, first spring contraction, the length of second shape-memory alloy wire
Elongated, second spring elongation, the bionic leg is rotated forward by the flexural pivot relative to the trunk, until described the
When the pulling force of one shape-memory alloy wire is with first spring and the Spring balanced of the second spring, the bionic leg stops
Rotation；When the two-way shape memory alloys driver is reversely operated, second shape-memory alloy wire is heated to its temperature
More than Length Contraction after transformation temperature, the second spring is shunk, the length of the first shape memory alloy wire, and described the
One spring extends, the bionic leg by the flexural pivot relative to the trunk backwards rotation, until second shape memory
When the pulling force of B alloy wire is with the Spring balanced of the second spring and first spring, the bionic leg stops operating.
Preferably, when the one-way shape memory alloy driver work, the third shape-memory alloy wire is heated extremely
Its temperature be more than transformation temperature after Length Contraction, the third spring contraction, second podomere relative to first podomere around
The Plane Rotation pair rotation, until the Spring balanced of the pulling force and the third spring of the third shape-memory alloy wire,
Second podomere stops operating.
Another aspect of the present invention provide a kind of bionic wall climbing robot of marmem driving, including trunk with
And multiple bionic wall climbing robot leg units as described above on the trunk, it is closed by the one-way shape memory
Golden driver and the two-way shape memory alloys driver drive the movement of the bionic wall climbing robot.
Preferably, multiple bionic wall climbing robot leg units are symmetrically arranged on the both sides of the trunk.
Preferably, there are six the bionic wall climbing robot leg units, it is divided into two groups, is located among the trunk side
Bionic wall climbing robot leg unit is one group with the bionic wall climbing robot leg unit positioned at trunk other side both ends, heating
Marmem ring in one group drives bionic wall climbing robot leg by the two-way shape memory alloys driver in the group
Unit fore-aft motion when marmem ring cooling in the group, heats the marmem ring in another group, weighs successively
It is multiple.
Preferably, marmem of the heating positioned at the bionic wall climbing robot leg unit of described trunk the same side
Ring, while heating the third shape-memory alloy wire of all bionic wall climbing robot leg units so that the first podomere and the second limb
Angle between section reduces, the gravity motion of bionic wall climbing robot；The marmem ring of the side cools down, and heating is located at body
The marmem ring of the bionic wall climbing robot leg unit of the dry other side, while all bionic wall climbing robot leg units
Third shape-memory alloy wire cools down so that the angle between the first podomere and the second podomere increases, bionic wall climbing robot
Gravity motion.
Compared with prior art, the present invention has the following advantages and beneficial effect：
In the present invention robot is driven using two-way shape memory alloys driver and one-way shape memory alloy driver
Movement, activation configuration is simple, light weight, movement are flexible, it is only necessary to which connecting conducting wire can control, simple in structure, be easy to drive
It is dynamic, the quality and volume of robot can be greatly reduced；Adsorption capacity is provided using magnetic spheres, is realized using marmem
Locking and release to sufficient module, robot kinematics mesopodium module are kept in contact with absorption surface always, and supporting point is stablized,
It is capable of providing stable holding power and adsorption capacity, robot gravity center shift is small, motion stabilization；Gait planning is simple, not extra
Lift leg and adsorb movement again；Using leg formula biomimetic features, movement is flexible, has certain obstacle climbing ability.
Description of the drawings
Fig. 1 is the structural schematic diagram of bionic wall climbing robot leg unit of the present invention；
Fig. 2 a are the front view of mesopodium module of the present invention；
Fig. 2 b are the upward view of mesopodium module of the present invention.
Fig. 3 a are the structural design drawing of two-way shape memory alloys driver in the present invention；
Fig. 3 b are the structure diagram of two-way shape memory alloys driver in the present invention；
Fig. 4 a are the structural design drawing of one-way shape memory alloy driver in the present invention；
Fig. 4 b are the structure diagram of one-way shape memory alloy driver in the present invention；
Fig. 5 is the structural schematic diagram of bionic wall climbing robot of the present invention.
In figure：
1- trunks, 2- bionic legs, 3- foot modules, 4- damping springs, 5- two-way shape memory alloys drivers, the unidirectional shapes of 6-
Shape memory alloys driver, the first podomeres of 21-, the second podomeres of 22-, 23- flexural pivots, 24- Plane Rotation pairs, 31- elastic coverings, 32-
Marmem ring, 33- magnetic balls, 51- first shape memory alloy wires, the second shape-memory alloy wires of 52-, 53- first
Spring, 54- second springs, 61- third shape-memory alloy wires, 62- third springs.
Specific implementation mode
Embodiment of the present invention described below with reference to the accompanying drawings.Those skilled in the art may recognize that
It arrives, it without departing from the spirit and scope of the present invention, can be with a variety of different modes or combinations thereof to described
Embodiment is modified.Therefore, attached drawing and description are regarded as illustrative in nature, rather than the protection for limiting claim
Range.In addition, in the present specification, attached drawing is drawn not in scale, and identical reference numeral indicates identical part.
Fig. 1 is the structural schematic diagram of bionic wall climbing robot leg unit of the present invention, as shown in Figure 1, of the present invention
Bionic wall climbing robot leg unit is mounted on the trunk 1 of bionic wall climbing robot, passes through marmem (Shape
Memory Alloy, abbreviation SMA) to drive its movement, the bionic wall climbing robot leg unit include bionic leg 2, damping spring
4, unidirectional sma actuator 6 and two-way sma actuator 5, wherein bionic leg 2 includes the first podomere 21 and the second podomere 22, the
The first end of one podomere 21 is connect with trunk 1 by flexural pivot 23, the first end of the second end of the first podomere 21 and the second podomere 22
It is connected by Plane Rotation pair 24, the second end of the second podomere 22 is equipped with sufficient module 3；Damping spring 4 is installed on the first podomere
Between 21 and trunk 1, and perpendicular to the plane where trunk 1, robot during the motion upper is limited by damping spring 4
Lower vibrations, while playing the role of restraint of liberty degree；Unidirectional sma actuator 6 be mounted on the first podomere 21 and the second podomere 22 it
Between, for driving bionic leg 2 to move left and right；Two-way sma actuator 5 is mounted between the first podomere 21 and trunk 1, for driving
Bionic leg 2 is moved forward and backward.
In the present invention robot is driven using two-way shape memory alloys driver and one-way shape memory alloy driver
Left and right and back-and-forth motion, activation configuration is simple, light weight, movement are flexible, it is only necessary to which connecting conducting wire can control, and structure is simple
It is single, it is easy to drive, the quality and volume of robot can be greatly reduced.
As shown in Figure 2 a and 2 b, sufficient module 3 includes elastic covering 31, SMA rings 32 and magnetic ball 33, elastic covering 31 and second
The second end of podomere 22 is fixedly connected, and magnetic ball 33 is installed in elastic covering 31, and SMA rings 32 are installed on the opening of elastic covering 31
Place, is fixed on elastic covering 31 and is contacted with magnetic ball 33, by controlling locking and release of the realization of SMA rings 32 to magnetic ball 33,
And magnetic ball 33 is kept in contact with absorption surface in 2 moving process of bionic leg.Wherein, elastic covering 31 can be hemispherical, with magnetic
Property ball 33 fit together, specific restriction is had no to the arc length of SMA rings 32, with can by magnetic ball free locking and release based on.
Magnetic ball 33 provides the adsorption capacity of climbing robot leg unit and ferromagnetic media surface, by controlling SMA rings 32 so that magnetism
It is opposing stationary with absorption surface when ball 33 is locked, under the driving of unidirectional sma actuator 6 or two-way sma actuator 5, body
Dry 1 can be subjected to displacement relative to adsorbing medium surface；When by controlling SMA rings 32 so that magnetic ball 33 is released, unidirectional
Sufficient module 3 is subjected to displacement relative to adsorbing medium surface under the driving of sma actuator 6 or two-way sma actuator 5, motion process
Middle magnetic ball 33 is rolling friction with adsorbing medium surface.
Adsorption capacity is provided using 33 body of magnetic ball, robot kinematics mesopodium module 3 is protected with adsorbing medium surface always
It holds contact, not extra lift leg and adsorbs movement again, supporting point is stablized, and stable holding power and adsorption capacity, machine are capable of providing
Device people's gravity center shift is small, motion stabilization.
In the present invention, whether the temperature by controlling SMA rings 32 controls magnetic ball 33 can be relative to adsorbing medium surface
It is subjected to displacement：Under room temperature, SMA rings 32 are contraction state, and the opening of elastic covering 31 is shunk, and limits magnetic ball 33 in elastic covering
Being freely rotated in 31, magnetic ball 33 are adsorbed on dielectric surface and remains stationary, are therebetween static friction；SMA rings 32 are heated,
Its temperature becomes larger more than the diameter of SMA rings 32 after transformation temperature, and the opening of elastic covering 31 increases, and discharges magnetic ball 33, magnetic ball 33
Movement limitation be released from so that it can be freely rotated in elastic covering 31, in two-way sma actuator 5 or unidirectional sma actuator
Under the action of 6, sufficient module 3 can be subjected to displacement relative to dielectric surface, and magnetic ball 33 and dielectric surface are rolling in moving process
Dynamic friction；After SMA rings 32 cool down, it is restored to contraction state again under the elastic force effect of elastic covering 31, locking magnetic ball 33 is adsorbed
It is limited again in the movement of dielectric surface, magnetic ball 33, sufficient module 3 and dielectric surface remains stationary, is quiet with dielectric surface
Friction.In the whole process, sufficient module 3 is contacted with dielectric surface always, and stable holding power and adsorption capacity are provided for robot.
As best shown in figures 3 a and 3b, two-way sma actuator 5 includes the first SMA units and the 2nd SMA units, the first SMA units
The both sides of bionic leg 2 are symmetrically arranged on the 2nd SMA units, the first SMA units include the first SMA silks 51 and the first spring 53,
First SMA silks 51 are inserted into the first spring 53, and the 2nd SMA units include the 2nd SMA silks 52 and second spring 54, the 2nd SMA
52 are inserted into second spring 54, and one end of the first spring 53 is fixed on trunk 1, and the other end is fixed on the first podomere 21, together
Sample, one end of second spring 54 is fixed on trunk 1, and the other end is fixed on the first podomere 21.Two-way sma actuator 5 is used
It is rotated around flexural pivot 23 relative to trunk 1 in the first podomere 21 of driving bionic leg 2, when two-way sma actuator 5 does not work, first
Spring 53 and second spring 54 are in former length, and the first SMA silks 51 and the 2nd SMA silks 52 are in low-temperature condition, the first podomere
21 are in equilbrium position, do not move；When two-way sma actuator 5 works, pass through the first SMA silks 51 of heating or the 2nd SMA
52 can be with the rotation of the first podomere of bi-directional drive 21 so that bionic leg 2 is relative to 1 forward direction of trunk or backwards rotation.With two-way SMA
For driver 5 drives bionic leg 2 to be rotated forward relative to trunk, the course of work of two-way sma actuator 5 is carried out specifically
It is bright：It is more than Length Contraction after transformation temperature to heat the first SMA silks 51 to its temperature, provides convergent force, and the first spring 53 is shunk, and second
SMA silks 52 occur plastic deformation and are elongated, and length, second spring 54 extends, and bionic leg 2 is by flexural pivot 23 relative to body
Dry 1 rotates forward, until when the pulling force and the first spring 53 and the Spring balanced of second spring 54 of the first SMA silks 51, bionic leg 2
It stops operating；After the first SMA silks 51 cool down, under the first spring 53 and the effect of the elastic force of second spring 54, the first podomere 21
Initial position is rotated forward around flexural pivot 23 and keeps balancing, and plasticity occurs at low temperature for the first SMA silks 51 and the 2nd SMA silks 52
Deformation.Similarly, backwards rotation of first podomere 21 around flexural pivot 23, the 2nd SMA silks 52 may be implemented by heating the 2nd SMA silks 52
The first podomere 21 is restored to initial position and keeps balancing after cooling.
As shown in Figs. 4a and 4b, unidirectional sma actuator 6 includes the 3rd SMA units, and the 3rd SMA units include the 3rd SMA
61 and third spring 62, the 3rd SMA silks 61 are inserted into third spring 62, and one end of third spring 62 is fixed on the first podomere 61
On, the other end is fixed on the second podomere 22, and the 3rd SMA silks 61 are generally aligned in the same plane with the first podomere 21 and the second podomere 22
It is interior.Unidirectional sma actuator 6 is used to drive the second podomere 22 of bionic leg 2 24 turns secondary around Plane Rotation relative to the first podomere 21
It is dynamic：When unidirectional sma actuator 6 does not work, third spring 62 is in former long, and the 3rd SMA silks 61 are in low-temperature condition；Unidirectionally
When sma actuator 6 works, the 3rd SMA silks 61 of heating to its temperature are more than Length Contraction after transformation temperature, provide convergent force, third
Spring 62 is shunk, and the second podomere 22 is rotated clockwise relative to the first podomere 21 around Plane Rotation pair 24, angle theta between the two
Become smaller, until the Spring balanced of the pulling force and third spring 62 of the 3rd SMA silks 61, the second podomere 22 stop operating；As the 3rd SMA
After 61 cooling of silk, under the elastic force effect of third spring 62, the second podomere 22 rotates counterclockwise, and θ increases and is restored to initial bit
It sets, the 3rd SMA silks 61 are plastically deformed.
First SMA silks 51, the 2nd SMA silks 52 and the 3rd SMA silks 61 control its length by its temperature of current control
It is flexible, to drive the movement of bionic wall climbing robot leg unit.First SMA silks 51 and the 2nd SMA silks 52 are on trunk
It installation site and is determined according to length and the required driving force of elastic force and bionic leg with the distance between flexural pivot, the
Installation site of the three SMA silks 61 on the first podomere and the second podomere is according to spring force and the required driving force of bionic leg
It is specific to determine.
Another aspect of the present invention provides a kind of bionic wall climbing robot of marmem driving, such as Fig. 5 institutes
Show, bionic wall climbing robot includes trunk 1 and multiple bionic wall climbing robot leg lists as described above on trunk 1
Member drives the shifting of bionic wall climbing robot by one-way shape memory alloy driver and two-way shape memory alloys driver
It is dynamic.
For the ease of the gait stability of bionic wall climbing robot, it is preferable that multiple bionic wall climbing robot leg units are symmetrical
It is installed on the both sides of trunk 1.
It with there are six bionic wall climbing robot leg units, and is symmetrically arranged on for the both sides of trunk 1, further illustrates this
Invention, and the present invention is not limited thereto.
As shown in figure 5, there are six symmetrical bionic wall climbing robot leg unit, robots altogether for bionic wall climbing robot
It is moved forward and backward according to " triped gait ", when initial, six bionic wall climbing robot leg units are in equilibrium state, own
SMA all in the room temperature state of cooling, magnetic ball 33 and the dielectric surface of sufficient module 3 are static friction, and robot is still in medium
Surface.
When robot travels forward, make bionic leg 2 relative to 1 swing of trunk by controlling two-way sma actuator 5,
Six bionic wall climbing robot leg units are divided into two groups, be located at 1 side of trunk among bionic wall climbing robot leg unit with
Bionic wall climbing robot leg unit positioned at 1 other side both ends of trunk is one group, for example, enable left front leg, it is right in leg, left back leg be
A groups, right front leg, left leg, right rear leg are B groups.Travelling forward for robot is realized according to the following steps：(1) it heats in A groups
SMA rings 32 release the movement to respective magnetic ball 33 and limit, corresponding in A groups in A groups under the action of two-way sma actuator 5
Bionic leg 2 swung forward relative to trunk 1, foot module therein 3 travels forward relative to dielectric surface；(2) in A groups
SMA rings 32 cool down, and corresponding two-way sma actuator 5 drives the first podomere 21 relative to 1 swing backward of trunk, due to its sufficient mould
Block 3 cannot be subjected to displacement relative to dielectric surface, so robot center of gravity moves forward；The SMA rings 32, B in B groups are heated simultaneously
Two-way sma actuator 5 in group drives the first podomere 21 to be swung forward relative to trunk 1, and corresponding sufficient module 3 is opposite in B groups
It is subjected to displacement in dielectric surface；(3) the SMA rings 32 of B groups cool down, and the corresponding driving of two-way sma actuator 5 first podomere 21 is opposite
In 1 swing backward of trunk, since its foot cannot be subjected to displacement relative to dielectric surface, so robot center of gravity moves forward；
The SMA rings 32 of A groups are heated simultaneously, and corresponding two-way sma actuator 5 drives the first podomere 21 to be swung forward relative to trunk 1, phase
The sufficient module 3 answered is subjected to displacement relative to dielectric surface.It repeats step (2) and the fortune forward of robot can be realized in step (3)
It is dynamic.Similarly, it can be achieved that the movement backward of robot.
When robot side-to-side movement, bionic leg side-to-side movement, heating is set to be located at trunk 1 by controlling unidirectional sma actuator 6
The SMA rings 32 of the bionic wall climbing robot leg unit of the same side, while heating the third of all bionic wall climbing robot leg units
SMA silks 61 so that the angle between the first podomere 21 and the second podomere 22 reduces, the gravity motion of bionic wall climbing robot；It should
The SMA rings 32 of side cool down, and heating is located at the SMA rings 32 of the bionic wall climbing robot leg unit of 1 other side of trunk, while all imitative
The 3rd SMA silks 61 cooling of raw climbing robot leg unit so that the angle between the first podomere 21 and the second podomere 22 increases,
The gravity motion of bionic wall climbing robot.
By taking robot moves downward as an example, illustrate.Moving downward for robot is realized as steps described below：(1) add
The SMA rings 32 of three bionic legs 2 in hot right side release the movement to corresponding magnetic ball 33 and limit, three, left side bionic leg 2
SMA rings 32 are sub-cooled state；Meanwhile 61 heat shrink of the 3rd SMA silks of the unidirectional sma actuator 6 of all bionic legs 2,
The angle theta of first podomere 21 and the second podomere 22 reduces, and robot center of gravity is moved to the left；(2) the SMA rings 32 of three legs in right side are cold
But, the foot SMA rings 32 of the rotation of limitation respective magnetic ball 33, three, left side leg heat, and release the movement to magnetic ball 33 and limit
System；Meanwhile the 3rd SMA silks 61 cooling of the unidirectional sma actuator 6 of all bionic legs 2, the first podomere 21 and the second podomere 22
Angle theta increases, and robot center of gravity is moved to the left.It repeats step (1) and (2) and moving downward for robot can be realized.
In robot back and forth or left and right motion process, the locking to magnetic ball 33 is realized by the SMA rings 32 of sufficient module 3
With release, sufficient module 3 is contacted with dielectric surface always, provides adsorption capacity and holding power, and robot center of gravity and supporting point are stablized, fortune
Dynamic process is not in topple.
The bionic wall climbing robot of marmem driving of the present invention can be to detect a flaw, investigate, climbing wall operation etc.
Offer refers to and puts into practice model well.In the present invention, marmen is used, mimic biology motion mode,
The multiple fields such as structure is detected a flaw, wall operation is climbed in high-altitude, task is detected in execution, execution military mission are can be applied to, are had wide
Application prospect.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bionic wall climbing robot leg unit of marmem driving, is mounted on the trunk of bionic wall climbing robot
On, which is characterized in that the bionic wall climbing robot leg unit includes：
Bionic leg, the bionic leg include the first podomere and the second podomere, and the first end of first podomere and the trunk are logical
Flexural pivot connection is crossed, the second end of first podomere is connect with the first end of second podomere by Plane Rotation pair, described
The second end of second podomere is equipped with sufficient module；
Damping spring, the damping spring are installed between first podomere and the trunk, and perpendicular to the trunk institute
Plane；
One-way shape memory alloy driver is mounted between first podomere and second podomere, described for driving
Bionic leg moves left and right；And
Two-way shape memory alloys driver is mounted between first podomere and the trunk, described bionical for driving
Leg is moved forward and backward.
2. the bionic wall climbing robot leg unit of marmem driving according to claim 1, which is characterized in that institute
It includes elastic covering, marmem ring and magnetic ball to state sufficient module, and the second end of the elastic covering and second podomere is solid
Fixed connection, the magnetic ball are installed in the elastic covering, and the marmem ring is installed on the opening of the elastic covering
Place, by controlling locking and release of the marmem ring realization to the magnetic ball, and in the bionic leg moving process
The magnetic ball is kept in contact with absorption surface.
3. the bionic wall climbing robot leg unit of marmem driving according to claim 2, which is characterized in that add
The heat marmem ring to its temperature is more than transformation temperature, and the diameter of the marmem ring increases, the elasticity
The opening of cover increases, and discharges the magnetic ball, the magnetic ball rotates in the elastic covering so that the foot module relative to
Dielectric surface moves；After the marmem ring cooling, the opening of the elastic covering is shunk, and is locked the magnetic ball and is inhaled
It is attached to dielectric surface, the foot module and the dielectric surface remains stationary.
4. the bionic wall climbing robot leg unit of marmem driving according to claim 1, which is characterized in that institute
It includes first shape memorial alloy unit and the second marmem unit to state two-way shape memory alloys driver, and described
One marmem unit and the second marmem unit are symmetrically arranged on the both sides of the bionic leg, and described
One marmem unit includes first shape memory alloy wire and the first spring, and the first shape memory alloy wire is inserted into
In first spring, the second marmem unit includes the second shape-memory alloy wire and second spring, described
Second shape-memory alloy wire is inserted into the second spring, and the one-way shape memory alloy driver includes third shape note
Recall alloy unit, the third marmem unit includes third shape-memory alloy wire and third spring, the third
Shape-memory alloy wire is inserted into the third spring.
5. the bionic wall climbing robot leg unit of marmem driving according to claim 4, which is characterized in that institute
When stating the work of two-way shape memory alloys driver forward direction, it is more than phase transformation to heat the first shape memory alloy wire to its temperature
Length Contraction after point, first spring contraction, the length of second shape-memory alloy wire, the second spring are stretched
Long, the bionic leg is rotated forward by the flexural pivot relative to the trunk, until the first shape memory alloy wire
When pulling force is with first spring and the Spring balanced of the second spring, the bionic leg stops operating；The two-way shape
When memory alloy actuator is reversely operated, it is more than length receipts after transformation temperature to heat second shape-memory alloy wire to its temperature
Contracting, the second spring are shunk, the length of the first shape memory alloy wire, the first spring elongation, described imitative
Raw leg by the flexural pivot relative to the trunk backwards rotation, until the pulling force of second shape-memory alloy wire with it is described
When the Spring balanced of second spring and first spring, the bionic leg stops operating.
6. the bionic wall climbing robot leg unit of marmem driving according to claim 4, which is characterized in that institute
When stating the work of one-way shape memory alloy driver, the third shape-memory alloy wire is heated to its temperature more than after transformation temperature
Length Contraction, the third spring contraction, second podomere are rotated relative to first podomere around the Plane Rotation pair,
Until the Spring balanced of the pulling force and the third spring of the third shape-memory alloy wire, second podomere stops turning
It is dynamic.
7. a kind of bionic wall climbing robot of marmem driving, including trunk, which is characterized in that further include being mounted on institute
Multiple bionic wall climbing robot leg units as described in any one of claim 1 to 6 claim on trunk are stated, by described
One-way shape memory alloy driver and the two-way shape memory alloys driver drive the shifting of the bionic wall climbing robot
It is dynamic.
8. the bionic wall climbing robot of marmem driving according to claim 7, which is characterized in that multiple bionical
Climbing robot leg unit is symmetrically arranged on the both sides of the trunk.
9. the bionic wall climbing robot of marmem driving according to claim 8, which is characterized in that described bionical
There are six climbing robot leg units, is divided into two groups, be located at the trunk side among bionic wall climbing robot leg unit with
Bionic wall climbing robot leg unit positioned at trunk other side both ends is one group, the marmem in one group of heating
Ring drives bionic wall climbing robot leg unit fore-aft motion, in the group by two-way shape memory alloys driver in the group
Marmem ring cooling when, heat the marmem ring in another group, be repeated in.
10. the bionic wall climbing robot of marmem driving according to claim 8, which is characterized in that heating position
In the marmem ring of the bionic wall climbing robot leg unit of described trunk the same side, while heating all bionical climb
The third shape-memory alloy wire of wall robot leg unit so that the angle between the first podomere and the second podomere reduces, bionical
The gravity motion of climbing robot；The marmem ring of the side cools down, bionic wall climbing machine of the heating positioned at the trunk other side
The marmem ring of device people's leg unit, while the third shape-memory alloy wire of all bionic wall climbing robot leg units is cold
But so that the angle between the first podomere and the second podomere increases, the gravity motion of bionic wall climbing robot.
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| CN109305251A (en) * | 2018-09-28 | 2019-02-05 | 广州大学 | A kind of two-wheel robot that SMA is spring-actuated |
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| CN109552445A (en) * | 2019-01-16 | 2019-04-02 | 清华大学 | Memory metal drives the bionic wall climbing robot based on honeybee tripodia gait |
| CN110216666A (en) * | 2019-06-19 | 2019-09-10 | 广东工业大学 | A kind of imitative looper elastic hook claw clamper of SMA driving |
| CN110562347A (en) * | 2019-08-16 | 2019-12-13 | 内蒙古工业大学 | Bionic mantis based on SMA drive |
| CN110588827A (en) * | 2019-08-16 | 2019-12-20 | 内蒙古工业大学 | Crawling robot based on SMA drive |
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| CN114475850A (en) * | 2022-03-07 | 2022-05-13 | 吉林大学 | Bionic quadruped robot driven by electric control shape memory alloy wires |
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| CN109109997A (en) * | 2018-08-30 | 2019-01-01 | 常州大学 | A kind of Three-degree-of-freedom bionic jump pedipulator |
| CN109109997B (en) * | 2018-08-30 | 2020-10-27 | 常州大学 | Three-degree-of-freedom bionic jumping mechanical leg |
| CN109551470A (en) * | 2018-09-13 | 2019-04-02 | 清华大学 | A kind of variable diameters snake-shaped robot module and snake-shaped robot |
| CN109305251A (en) * | 2018-09-28 | 2019-02-05 | 广州大学 | A kind of two-wheel robot that SMA is spring-actuated |
| CN109552445B (en) * | 2019-01-16 | 2020-07-14 | 清华大学 | Memory metal driven bionic wall-climbing robot based on bee three-foot gait |
| CN109552445A (en) * | 2019-01-16 | 2019-04-02 | 清华大学 | Memory metal drives the bionic wall climbing robot based on honeybee tripodia gait |
| CN110216666A (en) * | 2019-06-19 | 2019-09-10 | 广东工业大学 | A kind of imitative looper elastic hook claw clamper of SMA driving |
| CN110588827A (en) * | 2019-08-16 | 2019-12-20 | 内蒙古工业大学 | Crawling robot based on SMA drive |
| CN110562347A (en) * | 2019-08-16 | 2019-12-13 | 内蒙古工业大学 | Bionic mantis based on SMA drive |
| CN110562347B (en) * | 2019-08-16 | 2021-04-13 | 内蒙古工业大学 | Bionic mantis based on SMA drive |
| CN112644669A (en) * | 2021-02-08 | 2021-04-13 | 王奔 | Underwater robot based on shape memory alloy wire drive |
| CN112644669B (en) * | 2021-02-08 | 2021-07-16 | 王奔 | Underwater robot based on shape memory alloy wire drive |
| CN114475850A (en) * | 2022-03-07 | 2022-05-13 | 吉林大学 | Bionic quadruped robot driven by electric control shape memory alloy wires |
| CN114475850B (en) * | 2022-03-07 | 2024-04-26 | 吉林大学 | Electronic control shape memory alloy wire driven bionic quadruped robot |
| CN115384653A (en) * | 2022-09-28 | 2022-11-25 | 北京航空航天大学 | Controllable off-line crawling robot based on electromagnetic driving principle |
| CN115384653B (en) * | 2022-09-28 | 2023-07-25 | 北京航空航天大学 | Controllable off-line crawling robot based on electromagnetic driving principle |
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